392277 ISY Project: Robotic In-hand Dexterous Manipulation (Pj) (SoSe 2022)

Short Description:
In the project, we propose to fuse the robotic vision and tactile sensing for a in-hand manipulation task.
Multifingered robotic hand and its physics simulator will be used. Following research goals are expected achieved
by all team members. Feel free approaching me once you are interested in one of them
(1) object's reconstruction while it is rotated in human hand (ICP-based approach)
(2) multi-fingered robotic hand control policy to rotate the object in-hand (machine learning or adaptive control)
(3) known object pose estimation while it is grasped in hand (ICP-based approach)
The project is derived from DFG project DEXMAN
(https://gepris.dfg.de/gepris/projekt/410916101?language=en),
the students who can achieve good results are supported to prepare paper for top level conference and Journal.

Required skills:

• ROS

• Python, C++

• basic knowledge on machine learning (imitation/exploration leanring)

• basic knowledge on robotic kinematics and coordinate transformation

In case this would not find enough interest for a team project, this project proposal would be also offered (in reduced/modified form)

• an individual project
• a project for only 2 students